@Article{IJC-00_Lanzon-Richards,
 author       = "Lanzon, A. and Richards, R. J.",
 title        = "Compliant Motion Control for Non-Redundant Rigid Robotic Manipulators",
 journal      = "International Journal of Control",
 volume       = 73,
 number       = 3,
 pages        = "225-241",
 doi          = "10.1080/002071700219777",
 month        = feb,
 year         = 2000}